CN102556152B - Full-hardware servo power-assisted steering controller - Google Patents
Full-hardware servo power-assisted steering controller Download PDFInfo
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- CN102556152B CN102556152B CN 201210014975 CN201210014975A CN102556152B CN 102556152 B CN102556152 B CN 102556152B CN 201210014975 CN201210014975 CN 201210014975 CN 201210014975 A CN201210014975 A CN 201210014975A CN 102556152 B CN102556152 B CN 102556152B
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Abstract
The invention discloses a full-hardware servo power-assisted steering controller, which comprises generation circuits of 12V, +5V and +2.5V, a reference signal generation circuit, a comparator, a bipolar motor driving module, a feedback current detecting circuit and a signal processing circuit, wherein the voltage generation circuit is used for generating voltages of 12V, +5V and +2.5V required by the whole controller, and providing the voltages to each circuit module; the signal processing circuit is used for processing an input signal of the controller and a motor feedback signal through circuits, so as to obtain the required quantity; the signal is output into the comparator; the comparator compares the signal with a triangular wave signal output from the reference signal generation circuit and outputs the signal afterwards; and an obtained PWM (pulse-width modulation) signal is used by the motor driving motor to achieve the purpose of controlling a motor. The signal processing circuit adopts a plurality of combinations, thereby achieving the purpose of correcting the power-assistance characteristic of the vehicle speed; the full-hardware servo power-assisted steering controller is capable of responding rapidly and is not limited by the calculation speed of a processor.
Description
Technical field
The present invention relates to the electrical servo power-assisted steering system controller, relate to a kind of devices at full hardware servo power-assisted steering controller.
Background technology
The mechanical-hydraulic power-assisted is our modal a kind of power-assisted mode, because technology maturation is reliable, and also with low cost, be able to extensively be popularized.But owing to rely on engine power to drive oil pump, energy consumption is than higher, so the driving dynamics of vehicle just has been consumed a part virtually; The pipeline structure of hydraulic efficiency pressure system is very complicated, and the valve quantity of various control fluid is various, and the maintenance in later stage needs cost; A whole set of oil circuit often keeps high pressure conditions, and also can be affected service life, and these all are the shortcoming places of mechanical-hydraulic servo steering system.
Electric boosting steering system (Electric Power Steering, abbreviation EPS) is the power steering system that a kind of direct dependence motor provides auxiliary torque, mainly is made up of torque sensor, car speed sensor, electrical motor, speed reduction gearing and controller etc.Compare with traditional hydraulic power-assisted steering, the EPS system has lot of advantages.One, only motor just provides power-assisted when turning to, and can significantly reduce fuel oil consumption; Its two, the power steering size can be by the software adjustment, the road-holding property when ease of steering in the time of can taking into account low speed and high speed, return performance is good; Its three, compact conformation, light weight, manufacturing line assembles, and is easy to maintaining; Its four, by the setting of program, electric boosting steering system easily with the different automobile types coupling, can shorten the cycle of producing and developing.
Though the product that a lot of electric power steerings are arranged at present is place in operation, because the imperfection of technical imperfection, especially controller function makes the advantage of electric boosting steering system fail to be embodied fully.Present most of controller adopts microprocessor to gather torque signal and vehicle speed signal, reaches the control purpose by calculating and looking into assistant's characteristic curve again.The defective of this mode is that signal obtains all to sample by A/D and realizes, but the control accuracy that the sample rate of A/D sampling and sampling precision all can restriction controllers, torque signal of Huo Deing and vehicle speed signal need be by a large amount of calculating of microprocessor simultaneously, just can obtain required output parameter, thereby having caused system to exist significantly lags behind, the control effect is undesirable, in some cases even can vibrate.
Summary of the invention
The objective of the invention is to propose a kind of dependence devices at full hardware and realize, and the electric booster steering controller of not realizing by means of microprocessor.
Hardware based electric booster steering controller of the present invention comprises that power generation circuit, reference signal produce circuit, comparator, bipolar machine driver module, feedback current testing circuit, signal processing circuit.
The 12V that power generation circuit generation entire controller needs ,+5V ,+2.5V voltage, and to reference signal generation circuit, feedback current testing circuit, these three circuit modules power supplies of signal processing circuit; Reference signal produces circuit and produces the benchmark triangular signal, and the voltage signal that produces with signal processing circuit compares output in comparator; The PWM that produces produces power-assisted again via bipolar machine driver module drive motor; The feedback current testing circuit detects the electric current in the electric motor loop by sampling resistor, and through handling the output feedback voltage in signal processing circuit, as closed loop control.Signal processing circuit replaces microprocessor function, and signal processing circuit processes the output result of input torque signal, vehicle speed signal and feedback current testing circuit and calculate, and produces a signal and is input in the comparator.
Described signal processing circuit comprises the input torque signal processing circuit, frequency signal converting voltage signal circuit, multiplier circuit, adder and substracter circuit, proportion integration differentiation circuit.Wherein, the input torque signal processing circuit is done difference with the input torque signal and is amplified calculating, obtains input torque signal corresponding voltage value.The frequency signal converting voltage signal circuit is converted into cooresponding voltage signal with vehicle speed signal by frequency signal.The multiplication that multiplier circuit is finished torque signal and vehicle speed signal by the multiplier of realizing with FET and amplifier combination calculates.Adder and substracter circuit is done the addition and subtraction computing with torque signal and vehicle speed signal and both products, does that at last value is outputed to the proportion integration differentiation circuit with voltage.The proportion integration differentiation circuit is done difference output with the output signal of motor feedback signals and adder and substracter circuit, plays the effect of regulating voltage, and the result is outputed to comparator.
The present invention is by the mode of current feedback and the response of the moment of torsion speed of a motor vehicle, realized the function of electric booster steering controller with analogous circuit, and possesses following advantage: at first, repertoire all is to realize by analogous circuit, the adverse effect of having avoided A/D sampling and microprocessor computation speed to cause; Secondly, do not need microprocessor that tach signal and torque signal are calculated, improved the corresponding speed of controller, strengthened the reliability of system.At last, the passing ratio integral differential circuit is realized closed loop control to system, does not need microprocessor to interfere, and has improved the speed of response of system.
Function among the present invention all realizes by pure hardware mode, the function that replaces traditional microprocessor processes signal with signal processing circuit F, avoided A/D sampling precision and microprocessor running velocity adverse effect, saved the spending of microprocessor system resource and improved system reliability system performance.Simultaneously,, realized requirement, and made controller can realize good operating handle assist characteristic by the adjusting of controlled variable.
Description of drawings
Fig. 1 devices at full hardware servo power-assisted steering controller structural representation;
Fig. 2 signal processing circuit structure figure;
Fig. 3 input torque treatment circuit;
Fig. 4 frequency signal converting voltage signal circuit;
Fig. 5 multiplier circuit figure;
Fig. 6 adder and substracter circuit;
Fig. 7 feedback current testing circuit;
Fig. 8 proportion integration differentiation circuit;
Fig. 9 reference signal produces circuit.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
With reference to Fig. 1, electric booster steering controller based on analogous circuit of the present invention, it is formed structure and comprises that power generation circuit A, reference signal generation circuit B, comparator C, bipolar machine driver module D, feedback current testing circuit E, described signal processing circuit F(comprise input torque signal processing circuit F-1, frequency signal converting voltage signal circuit F-2, multiplier circuit F-3, adder and substracter circuit F-4, proportion integration differentiation circuit F-5).
The 12V that power generation circuit A generation entire controller needs ,+5V ,+2.5V voltage, signal processing circuit F comprises (vehicle speed signal with the incoming signal of controller, the input torque signal) feedback signal of the motor that obtains with feedback current testing circuit E is by handling, and the output regulating voltage is to comparator C; Comparator C compares output with the triangular signal of this voltage and reference signal generation circuit B output, the pwm signal that obtains is input to motor drive module D, thereby reaches the purpose of control motor.
Power supply by on the car+Vehicular accumulator cell of 12V provides.The 12V that power generation circuit A generation entire controller needs ,+5V ,+2.5V voltage, this part is used TLE6215 and these two chips of TLE4278, and by corresponding power driving circuit, with Vehicular accumulator cell+12V voltage, be converted into that each module of controller need use+12V, + 5V and+three kinds of different voltages of 2.5V, and offer reference signal and produce circuit B, feedback current testing circuit E and signal processing circuit F use;
Among the present invention, signal processing circuit F replaces the function of microprocessor, and its implementation as shown in Figure 2.Wherein, input torque signal processing circuit F-1 does difference with input torque and amplifies calculating, obtains the input torque corresponding voltage value.Frequency signal converting voltage signal circuit F-2 is converted into cooresponding voltage signal with vehicle speed signal by frequency signal.The multiplication that multiplier circuit F-3 finishes torque signal and vehicle speed signal by the multiplier of realizing with FET and amplifier combination calculates.Adder and substracter circuit F-4 does the addition and subtraction computing with torque signal and vehicle speed signal and both products, does that at last value is outputed to proportion integration differentiation circuit F-5 with voltage.Proportion integration differentiation circuit F-5 says that the output signal of motor feedback signals and adder and substracter circuit F-4 does difference output, plays the effect of regulating voltage, and the result is exported.
Among the input torque signal processing circuit F-1, the bearing circle input torque records corresponding voltage T1, T2 by sensor, and this signal calculates through the input torque signal processing circuit, obtains corresponding torque signal Vt.This partial circuit structure as shown in Figure 3, incoming signal is through operational amplifier A, the torque signal that obtains is
, wherein, R3=R4, R6=R5, the effect of two schottky diode NSR15DW1 is according to circumstances to need to be provided with the dead band size; Among the frequency signal converting voltage signal circuit F-2, original vehicle speed signal is the frequency signal relevant with engine speed, and this signal must transform voltage signal circuit through frequency signal and handle, and obtains the cooresponding voltage signal Vspd of the corresponding speed of a motor vehicle.This partial circuit structure as shown in Figure 4, chip LM2917 is a frequency-voltage converter, can be with the frequency signal of 1 pin input, be converted into cooresponding voltage signal output, regulate R1, R2, the value of C2 can obtain different frequencies-voltage corresponding relation, to satisfy the needs of different automobile types.Multiplier circuit F-3 realizes that by the multiplier of realizing with FET and amplifier combination the multiplication of torque signal and vehicle speed signal calculates.This partial circuit structure as shown in Figure 5, among the figure, T1, T2 are two identical field effect transistor (FET), A1, A2, A3, A4 are op amps.Be subjected to the principle of work of grid-controlled principle and op amp according to field effect transistor drain-source electrode resistance, the input/output relation of being not difficult to obtain this circuit is:
Wherein,
Voltage for amplifier A2 mouth.By among the figure as can be known, R11, R12 are compensating resistance, R12 is a variable resistance, regulates its resistance, makes its value to satisfy:
Therefore, for circuit shown in Figure 5, only need measure
Value, and the resistance of regulating corresponding resistor among the K just can obtain the effect that multiplication calculates, the multiplier of realization is finished the multiplication calculating of torque signal and vehicle speed signal; By adder and substracter circuit F-4 the output signal of torque signal, vehicle speed signal and multiplier is being handled at last, outputed in the proportion integration differentiation circuit with voltage Vo.The signed magnitude arithmetic(al) circuit of this part as shown in Figure 6.
Among the present invention, feedback current testing circuit E is sampling resistor of series connection on motor refluxes, AD8210 current detecting chip and Voltage stabilizing module detect the current value that obtains drive motor, and the magnitude of voltage by the exportable corresponding current of electric of feedback current testing circuit E is as the required feedback signal of closed loop control.This partial circuit as shown in Figure 7, wherein R1 is a sampling resistor, is connected in series in the electric motor loop.
The signal value Vo of current of electric feedback signal Vfb and adder and substracter circuit F-4 output together enters proportion integration differentiation circuit F-5, and its effect is that two incoming signals are done difference output, in conjunction with feedback signal, and vehicle speed signal and input torque Signal Regulation voltage.This partial circuit figure as shown in Figure 8.
The structure of reference signal generation circuit B as shown in Figure 9.Wherein, TLV3501 is a comparator, produces square-wave signal; SN7414 is a reverser, and the effect that connects two reversers is rectification; AD820 is an op amp, constitutes integrating circuit with corresponding capacitance resistance, and square-wave signal is converted into triangular signal, by changing the value of R3 and C3, can adjust the triangle wave frequency.The reference signal of output and Vcmp are through comparator C, and comparator C adopts chip LM339.Because the regulating voltage difference that signal processing circuit F obtains according to unlike signal is relatively exported the PWM ripple signal that the back obtains different duty with comparator.
PWM ripple signal is through motor drive module D, and the work of control motor makes motor play the purpose that the assistant turns to different driving direction and different driving power.Motor drive ic adopts two BTS7970B, in the mode of bipolar driving, and drive motor work more efficiently.
Claims (1)
1. a devices at full hardware servo power-assisted steering controller is characterized in that: comprise that power generation circuit (A), reference signal produce circuit (B), comparator (C), bipolar machine driver module (D), feedback current testing circuit (E), signal processing circuit (F);
The 12V that power generation circuit (A) generation entire controller needs ,+5V ,+2.5V voltage, and to reference signal generation circuit (B), feedback current testing circuit (E), these three circuit modules power supplies of signal processing circuit (F); Reference signal produces circuit (B) and produces the benchmark triangular signal, and the voltage signal that produces with signal processing circuit (F) compares output in comparator (C); The PWM that produces produces power-assisted again via bipolar machine driver module (D) drive motor; Feedback current testing circuit (E) detects the electric current in the electric motor loop by sampling resistor, and through handling the output feedback voltage in signal processing circuit (F), as closed loop control; Signal processing circuit (F) replaces microprocessor function, and signal processing circuit (F) processes the output result of input torque signal, vehicle speed signal and feedback current testing circuit (E) and calculate, and produces a signal and is input in the comparator (C);
Described signal processing circuit (F) comprises input torque signal processing circuit (F-1), frequency signal converting voltage signal circuit (F-2), multiplier circuit (F-3), adder and substracter circuit (F-4), proportion integration differentiation circuit (F-5); Wherein, input torque signal processing circuit (F-1) is done difference with the input torque signal and is amplified calculating, obtains input torque signal corresponding voltage value; Frequency signal converting voltage signal circuit (F-2) is converted into cooresponding voltage signal with vehicle speed signal by frequency signal; The multiplication that multiplier circuit (F-3) is finished torque signal and vehicle speed signal by the multiplier of realizing with FET and amplifier combination calculates; Adder and substracter circuit (F-4) is done the addition and subtraction computing with torque signal and vehicle speed signal and both products, will be worth at last with voltage to output to proportion integration differentiation circuit (F-5); Proportion integration differentiation circuit (F-5) is done difference output with the output signal of motor feedback signals and adder and substracter circuit (F-4), plays the effect of regulating voltage, and the result is outputed to comparator (C).
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| CN 201210014975 CN102556152B (en) | 2012-01-18 | 2012-01-18 | Full-hardware servo power-assisted steering controller |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9676409B2 (en) | 2013-03-11 | 2017-06-13 | Steering Solutions Ip Holding Corporation | Road wheel disturbance rejection based on hand wheel acceleration |
| US10155534B2 (en) | 2016-06-14 | 2018-12-18 | Steering Solutions Ip Holding Corporation | Driver intent estimation without using torque sensor signal |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2799310B1 (en) | 2013-04-30 | 2016-06-08 | Steering Solutions IP Holding Corporation | Providing assist torque without hand wheel torque sensor |
| CN103560743B (en) * | 2013-10-23 | 2016-04-20 | 国家电网公司 | Application of Motor Speed Detecting method and apparatus |
| US9540044B2 (en) | 2013-11-15 | 2017-01-10 | Steering Solutions Ip Holding Corporation | Hand wheel angle from vehicle dynamic sensors or wheel speeds |
| US9540040B2 (en) | 2014-06-26 | 2017-01-10 | Steering Solutions Ip Holding Corporation | Phase plane based transitional damping for electric power steering |
| US10144445B2 (en) | 2014-09-15 | 2018-12-04 | Steering Solutions Ip Holding Corporation | Modified static tire model for providing assist without a torque sensor for zero to low vehicle speeds |
| US10464594B2 (en) | 2015-09-03 | 2019-11-05 | Steering Solutions Ip Holding Corporation | Model based driver torque estimation |
| US10336363B2 (en) | 2015-09-03 | 2019-07-02 | Steering Solutions Ip Holding Corporation | Disabling controlled velocity return based on torque gradient and desired velocity error |
| CN106352980A (en) * | 2016-08-17 | 2017-01-25 | 中国电子科技集团公司第四十研究所 | High-precision grating positioning device directly driven by a limited angle motor |
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| US5787376A (en) * | 1995-09-01 | 1998-07-28 | Mitsubishi Denki Kabushiki Kaisha | Power steering motor control unit with driving mode correction |
| JP2830993B2 (en) * | 1995-12-07 | 1998-12-02 | 本田技研工業株式会社 | Electric power steering device |
| CN1913336A (en) * | 2006-08-18 | 2007-02-14 | 浙江大学 | Electric booster steering controller |
| CN101011980A (en) * | 2007-02-26 | 2007-08-08 | 扬州扬子江柴油机配件厂 | Motor-driven control device for hydraulic power-assisted steering system |
| CN101110561A (en) * | 2007-08-03 | 2008-01-23 | 浙江大学 | Electrical servo power-assisted steering controller |
| CN102303640A (en) * | 2011-04-07 | 2012-01-04 | 长春一汽四环汽车泵有限公司 | Controller of automotive electronic power steering (EPS) system |
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2012
- 2012-01-18 CN CN 201210014975 patent/CN102556152B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5787376A (en) * | 1995-09-01 | 1998-07-28 | Mitsubishi Denki Kabushiki Kaisha | Power steering motor control unit with driving mode correction |
| JP2830993B2 (en) * | 1995-12-07 | 1998-12-02 | 本田技研工業株式会社 | Electric power steering device |
| CN1913336A (en) * | 2006-08-18 | 2007-02-14 | 浙江大学 | Electric booster steering controller |
| CN101011980A (en) * | 2007-02-26 | 2007-08-08 | 扬州扬子江柴油机配件厂 | Motor-driven control device for hydraulic power-assisted steering system |
| CN101110561A (en) * | 2007-08-03 | 2008-01-23 | 浙江大学 | Electrical servo power-assisted steering controller |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9676409B2 (en) | 2013-03-11 | 2017-06-13 | Steering Solutions Ip Holding Corporation | Road wheel disturbance rejection based on hand wheel acceleration |
| US10155534B2 (en) | 2016-06-14 | 2018-12-18 | Steering Solutions Ip Holding Corporation | Driver intent estimation without using torque sensor signal |
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| CN102556152A (en) | 2012-07-11 |
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